Trinamic TMCM-310 User manual

Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
TMCM-310
Hardware Manual
Version: 1.25
2009-SEP-15
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
http://www.trinamic.com

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 2
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Life support policy....................................................................................................................................................... 4
2Features........................................................................................................................................................................... 5
3Order codes.................................................................................................................................................................... 6
4Electrical and mechanical interfacing..................................................................................................................... 7
4.1 Dimensions........................................................................................................................................................... 7
4.2 Connecting the module .................................................................................................................................... 8
4.2.1 Power supply............................................................................................................................................. 8
4.2.2 Motor and STOP / reference switches ................................................................................................ 9
4.2.3 Interfaces RS-232 and CAN .................................................................................................................... 9
4.2.4 SPI / programmer................................................................................................................................... 10
4.2.5 Additional inputs and outputs ........................................................................................................... 10
5Operational ratings.................................................................................................................................................... 11
6Functional description .............................................................................................................................................. 12
6.1 System architecture.......................................................................................................................................... 12
6.1.1 Microcontroller ........................................................................................................................................ 12
6.1.2 TMCL EEPROM........................................................................................................................................... 12
6.1.3 TMC428 motion controller ................................................................................................................... 12
6.1.4 Stepper motor drivers........................................................................................................................... 13
6.2 Power supply ..................................................................................................................................................... 13
6.2.1 Communication interface ..................................................................................................................... 13
6.3 stallGuard™ - sensorless motor stall detection ...................................................................................... 14
6.3.1 stallGuard™ adjusting tool ................................................................................................................. 14
6.3.2 stallGuard™ profiler .............................................................................................................................. 15
6.4 Reference switches........................................................................................................................................... 16
6.4.1 Left and right limit switches .............................................................................................................. 16
6.4.2 Triple switch configuration ................................................................................................................. 17
6.4.3 One reference switch ............................................................................................................................ 17
6.5 Additional inputs and outputs...................................................................................................................... 17
6.6 Microstep resolution ........................................................................................................................................ 18
6.7Jumpers, other connectors and LEDs.......................................................................................................... 18
6.7.1 Blank time ................................................................................................................................................ 18
6.7.2 Programmer connector and jumper J101 (rev. 1.1) ...................................................................... 18
6.7.3 Programmer connector (rev. 2.0) ....................................................................................................... 19
6.7.4 SPI jumpers.............................................................................................................................................. 19
6.7.5 Shutdown jumper .................................................................................................................................. 19
6.7.6 Reset button ............................................................................................................................................ 19
6.7.7 Power LED ................................................................................................................................................ 19
6.7.8 Activity LED .............................................................................................................................................. 19
7Putting the TMCM-310 into operation.................................................................................................................. 20
8TMCM-310 operational description ........................................................................................................................ 21
8.1 Calculation: velocity and acceleration vs. microstep- and fullstep frequency ................................ 21
9TMCL............................................................................................................................................................................... 23
10 Differences between hardware rev. 1.1 and 2.0 ............................................................................................... 24
11 Revision history .......................................................................................................................................................... 25
11.1 Document revision ........................................................................................................................................... 25
11.2 Firmware revision............................................................................................................................................. 25

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 3
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Dimensions........................................................................................................................................................ 7
Figure 3.2: TMCM-310 Overview ........................................................................................................................................ 8
Figure 5.1: Main parts of the TMCM-310....................................................................................................................... 12
Figure 5.2: StallGuard™ adjusting tool ........................................................................................................................ 14
Figure 5.3: The StallGuard™ Profiler............................................................................................................................. 15
Figure 5.4: Left and right limit switches...................................................................................................................... 16
Figure 5.5: Limit switch and reference switch ........................................................................................................... 17
Figure 5.6: One reference switch.................................................................................................................................... 17
List of Tables
Table 1.1: Order codes......................................................................................... Fehler! Textmarke nicht definiert.
Table 3.1: Pinning of Power supply ................................................................................................................................ 8
Table 3.2: Pinning of Motors and Stop-Switches ........................................................................................................ 9
Table 3.3: Modem and null modem cable..................................................................................................................... 9
Table 3.4: Pinning of Interfaces RS-232 and CAN........................................................................................................ 9
Table 3.5: SPI / Programmer pinning............................................................................................................................ 10
Table 3.6: Pinning of additional In- and Outputs ..................................................................................................... 10
Table 4.1: Operational Ratings ........................................................................................................................................ 11
Table 5.1: StallGuard™ parameter SAP 205................................................................................................................. 14
Table 5.2: Microstep resolution setting ........................................................................................................................ 18
Table 5.3: Blank time settings ......................................................................................................................................... 18
Table 7.1: TMC428 Velocity parameters ........................................................................................................................ 21
Table 10.1: Documentation Revisions ........................................................................................................................... 25
Table 10.2: Firmware Revisions ...................................................................................................................................... 25

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 4
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
1Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent
of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to
support or sustain life, and whose failure to perform,
when properly used in accordance with instructions
provided, can be reasonably expected to result in
personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2009
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use or for any
infringement of patents or other rights of third
parties, which may result from its use.
Specifications are subject to change without notice.

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 5
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
2Features
The TMCM-310 is a triple axis 2-phase stepper motor controller and driver module. It provides a
complete single board motion control solution at low cost. Using the integrated additional I/Os it
even can do complete system control applications. The motors and switches can be connected easily
with screw terminals. The connection of the multi purpose I/Os can be done via a dual-in-line pin
connector. The TMCM-310 comes with the PC based software developer environment TMCL-IDE for the
TRINAMIC Motion Control Language (TMCL). Using predefined TMCL high level commands like “move
to position” or “constant rotation” rapid and fast development of motion control applications
guaranteed. The TMCM-301 can be controlled via the RS-232 or the CAN interface. Communication
traffic is very low since all time critical operations, e.g. ramp calculation are performed on board. A
user TMCL program can be stored in the onboard EEPROM for stand-alone operation. The firmware of
the module can be updated via the serial interface. With the optional StallGuard™ feature it is
possible to detect overload and stall of the motor.
Applications
Controller / driver board for control of up to 3 Axis
Versatile possibilities of applications in stand alone or pc controlled mode
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V to 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
StallGuardTM option for sensorless motor stall detection
Full step frequencies up to 20kHz
Fully protected drive
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless StallGuard™ feature or reference switch
Coil current adjustable by software
Up to 16 times microstepping
Many adjustment possibilities make this module the solution for a great field of demands
Software
Stand-alone operation using TMCL or remote controlled operation
TMCL program storage: 16 KByte EEPROM (2048 TMCL commands)
PC-based application development software TMCL-IDE included
Other
Pluggable / screw terminal connectors
RoHS compliant
Size: 160x100mm²

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 6
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
3Order codes
Order code
Description
Dimensions [mm3]
TMCM-310
3-axis controller/driver, RS232
165 x 100 x 25
TMCM-310-CAN
3-axis controller/driver, RS232, CAN
165 x 100 x 25
TMCM-310/SG
3-axis controller/driver, StallGuard, RS232
165 x 100 x 25
TMCM-310/SG-CAN
3-axis controller/driver, StallGuard, RS232, CAN
165 x 100 x 25
Related products:
QSH4218-35-10-027
QMot stepper motor 42mm, 1A, 0.27Nm
42.3 x 42.3 x 33,5
QSH4218-41-10-035
QMot stepper motor 42mm, 1A, 0.35Nm
42.3 x 42.3 x 38
QSH4218-51-10-049
QMot stepper motor 42mm, 1A, 0.49Nm
42.3 x 42.3 x 47
Table 3.1: Order codes

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 7
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
4Electrical and mechanical interfacing
4.1 Dimensions
Maximum height: 25mm. Be aware, that the additional in- and output connector as well as the
optional CAN connector is upright. The dimensions in Figure 4.1 are the same for rev. 1.x and 2.0.
160,00
100,00
80,00
5,00
155,00
5,005,00
5,00
50,00
155,00
15,00 10,70 8,40 4,50 10,80
97,10
14,50
22,0027,30
Figure 4.1: Dimensions of TMCM-310

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 8
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
4.2 Connecting the module
Figure 4.2 gives an overview of the module and helps to locate all important parts. It also shows
how to connect the stepper motors and reference switches (if needed).
+Vs=
12..28V DC
Reset button
Motor 0 Motor 1 Motor 2
Additional Inputs and
Outputs (X300)
TMC236
or
TMC246
TMC236
or
TMC246
TMC236
or
TMC246
TMC428 ATmega
32
RS232
Pin
1
Blank1
(J400)
Blank2
(J401)
Pin
1
SPI jumpers (J200)
(always closed,
rev. 1.0 only) J101
J100
Programmer / SPI
Pin
1
CAN bus
(optional
)
CAN Termination
(J500)
+Vs
GND
for
Hardware
rev. 2.0:
X102
J100, J101: rev 1.0 only
X102: rev 2.0 only
+VS GND
STOP 0
rev. 2.0
STOP 1
rev. 2.0
STOP 2
rev. 2.0
M M M
43 2 1 3 214 4 3 2 1 3 214
GND
43 2 1 3 214
B1 B0 A1 A0 LR
+5v
B1 B0 A1 A0
GND
LR
+5v
B1 B0 A1 A0
GND
LR
+5v
Figure 4.2: TMCM-310 overview
4.2.1 Power supply
The power supply can either be connected to the X504 / X505 "Trinamic Standard" 5.08mm power plug
or to the power socket X503 (industry standard power socket with 2.0mm pin diameter). Both
connections are electrically identical.
Screw terminal
Power socket
Function
VS
Pin
+8…34V DC power supply (V2.0)
GND
Ring
Ground
Table 4.1: Pinning of power supply

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 9
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
4.2.2 Motor and STOP / reference switches
Warning: Never connect or disconnect the motors while the TMCM-310 Module is switched on as
this may destroy the driver ICs!
The TMCM-310 controls up to three 2-phase stepper motors. The screw terminals for the motors are
marked on the board with Motor 0, Motor 1 and Motor 2 (2.54mm pitch). Additionally there are
electrically identical 4-pin connectors (2.54mm pitch) for motor and stop switches. Connect one coil of
the motor to the terminals marked with A0 and A1 and the other coil to the terminals marked with
B0 and B1. If a stepper motor should run in the wrong direction just change the polarity of one (not
both) of its coils.
Before connecting a motor please make sure which cable belongs to which coil. Wrong
connections may lead to damage of the driver chips or the motor.
Pinning for Motors 0, 1 and 2 and Stop-switches 0, 1 and 2:
Terminal
Pin
Name
Function
Motor X
1
A0
Connection for motor coil A
2
A1
Connection for motor coil A
3
B0
Connection for motor coil B
4
B1
Connection for motor coil B
STOP X
1
R
Right limit switch input (integrated pullup to 5V)
2
L
Left limit switch input (integrated pullup to 5V)
3
GND
Ground
4
+5V
+5V power supply (Rev.2.0 only)
Table 4.2: Pinning of motors and stop-switches
4.2.3 Interfaces RS-232 and CAN
The module is equipped with an RS-232 interface and optionally with a CAN interface. To connect the
RS232 interface of the module to a PC you can use a standard null modem cable (with female plugs
at both ends). The optional CAN interface uses an industry standard 10-way box header with the
following pin assignments (all other pins are not connected). Pin 1 is marked with an arrow on the
board.
Pin
RS232
CAN
1
2
RxD
CAN_L
3
TxD
GND
4
5
GND
6
GND (optional)
7
CAN_H
8
9
10
--- Not available ---
Table 4.4: Pinning of interfaces RS-232 and CAN
Null modem
Modem
Female (Host)
Female
Male
1
4
1
2
3
2
3
2
3
4
1
4
5
5
5
6
6
6
7
8
7
8
7
8
9
9
9
Table 4.3: Modem and null modem cable

TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 10
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
4.2.4 SPI / programmer
Either for reprogramming the CPU or for attaching other external devices with SPI interface. See 6.7.2
and 6.7.3 for further information.
Pin
Number
Function
MISO
1
SPI master in slave out (pin 1 marked on board)
+5V
2
+5V
SCK
3
SPI serial clock
MOSI
4
SPI serial output (master out slave in)
nSCS
5
SPI low active device select
GND
6
GND (0V)
Table 4.5: SPI / programmer pinning
4.2.5 Additional inputs and outputs
An industry standard 20-way (2x10, 2.54mm pitch) box header is used. Pin 1 is marked by an arrow on
the board. The row near the edge of the board contains the pins with odd numbers and the other
row contains the pins with even numbers.
Pin
Signal
Pin
Signal
1
Output 0
2
Output 1
3
Output 2
4
Output 3
5
Output 4
6
Output 5
7
Output 6
8
Output 7
9
rev. 2.0: Alarm Input
rev 1.1: +5V (Output)
10
GND
11
Input 0
12
Input 1
13
Input 2
14
Input 3
15
Input 4
16
Input 5
17
Input 6
18
Input 7
19
+5V (Output)
20
GND
Table 4.6: Pinning of additional in- and outputs